Autonomous driving safety system for sharing risk-based operation design domain and method thereof

Abstract

An autonomous driving safety system for sharing a risk-based operation design domain includes an autonomous driving system configured to control a vehicle driving unit according to information detected by a sensor unit to perform autonomous driving, in which the autonomous driving system includes an operation design domain update unit configured to evaluate a risk of at least one of a static operation design domain and a dynamic operation design domain recognized by the sensor unit while driving to update the operation design domain.

What is claimed is: 
     
       1. An autonomous driving safety system for sharing a risk-based operation design domain, comprising:
 an autonomous driving system configured to control a vehicle driving unit according to information detected by a sensor unit to perform autonomous driving, wherein the autonomous driving system includes an operation design domain (ODD) update unit configured to evaluate a risk of at least one of a static operation design domain and a dynamic operation design domain recognized by the sensor unit while driving to update the operation design domain (ODD), 
 wherein the autonomous driving system shares the updated operation design domain (ODD) with at least one of a roadside unit, other autonomous vehicles, and a control server, wherein the autonomous driving system includes:
 a layer-specific attribute information DB configured to layer the operation design domains (ODD) into a plurality of layers and stores attributes for each layer and weights set for each attribute; a risk calculation module configured to calculate risks for each layer by applying the weight of the attributes stored in the layer-specific attribute information DB according to the recognized operation design domain (ODD), and calculates a final risk by summing the risks for each layer; and an update module configured to update the risk calculated by the risk calculation module to the operation design domain (ODD), wherein the autonomous driving system is classified into: a road geometry layer that is classified into an operation design domain (ODD) of a road structure, a road type, a road shape and form, and a shape, type, and condition of a road surface; a social infrastructure layer that is classified into the operation design domain (ODD) of a traffic signal and structure; a temporary restricted area layer that is classified into an unexpected situation caused by a traffic accident, a construction section, and an emergency stop vehicle, and an operation design domain (ODD) of a protected zone; an object layer that is classified into an operation design domain (ODD) of a static object, a dynamic object, and an unexpected object on and around a road; an environmental condition layer that is classified into an operation design domain (ODD) of season, weather (climate), and a light source; and a connectivity (communication) layer that is classified into an operation design domain (ODD) of communication and control. 
 
 
     
     
       2. The autonomous driving safety system of  claim 1 , wherein the autonomous driving system shares the updated operation design domain (ODD) with at least one of a roadside unit, other autonomous vehicles, and a control server. 
     
     
       3. The autonomous driving safety system of  claim 1 , wherein the temporary restricted area layer has an attribute set as at least one of a distance between start and end points of the protected zone and the autonomous vehicle, a type of protected zone, a distance between an autonomous vehicle and an unexpected section, left and right lane positions between the unexpected sections from the autonomous vehicle, a relative position of the unexpected section from autonomous vehicle, and a type of the unexpected section. 
     
     
       4. The autonomous driving safety system of  claim 1 , wherein the operation design domain (ODD) of a type of the road structure has an attribute set as an accident rate and fatality, and the accident rate and fatality are weighted differently depending on a degree of death and injury. 
     
     
       5. The autonomous driving safety system of  claim 1 , wherein the operation design domain (ODD) of the road shape has an attribute set as at least one of a lane width, the total number of lanes on a road, a lane number on which the autonomous vehicle is driving, a radius of curvature of a road, and a road design speed. 
     
     
       6. The autonomous driving safety system of  claim 1 , wherein the operation design domain (ODD) of the road surface has an attribute set as at least one of a road surface material type, a road surface friction coefficient (μ), a damage type, road surface damage severity (high, medium, low), and a distance between the autonomous vehicle and a road surface damage section. 
     
     
       7. The autonomous driving safety system of  claim 1 , wherein a risk of the operation design domain (ODD) of the type of the road structure is calculated according to Equation below: 
       
         
           
             
               Risk 
               = 
               
                 
                   
                     fatal 
                     ⁢ 
                         
                     accident 
                     × 
                     1 
                   
                   + 
                   
                     serious 
                     ⁢ 
                         
                     accident 
                     × 
                     0.7 
                   
                   + 
                   
                     minor 
                     ⁢ 
                          
                     accident 
                     × 
                     0.3 
                   
                 
                 
                   number 
                   ⁢ 
                       
                   of 
                   ⁢ 
                       
                   traffic 
                   ⁢ 
                       
                   accidents 
                 
               
             
           
         
       
       wherein a weight of 1 is set for a fatal accident, a weight of 0.7 is set for a serious accident, and a weight of 0.3 is set for a minor accident. 
     
     
       8. The autonomous driving safety system of  claim 1 , wherein the operation design domain (ODD) of the weather sets a cloud ratio, a wind speed, precipitation, snowfall, a visibility range as an attribute,
 the cloud ratio is set as a ratio occupied by clouds in sunny and cloudy conditions, wind, rain, and snow are classified and set into multiple categories based on the amount, and fog is classified into multiple types based on the visibility range. 
 
     
     
       9. The autonomous driving safety system of  claim 1 , wherein the object layer is classified into an operation design domain (ODD) of a vehicle, a pedestrian, and an animal,
 the operation design domain of the vehicle has an attribute set as at least one of left/right lane positions of a target vehicle from the autonomous vehicle, a surrounding position of the target vehicle from the autonomous vehicle, an absolute speed (X and Y axes), a relative speed (X and Y axes) from the autonomous vehicle, a distance (X and Y axes), a travel angle (direction), detection coordinates, and a type of a vehicle, and the operation design domain (ODD) of the pedestrian and animal has an attribute set as at least one of the relative speed, absolute speed, distance, travel angle, detection coordinates, and type from the autonomous vehicle. 
 
     
     
       10. The autonomous driving safety system of  claim 1 , wherein a risk of the operation design domain (ODD) of the road shape is calculated by Equation below: Risk of road shape=AMF curve radius ×AMF longitudinal slope  wherein the curve radius is a curve radius of a road, and the longitudinal slope is a longitudinal slope of a road. 
     
     
       11. An autonomous driving safety system of sharing a risk-based design domain, comprising: a control server configured to collect an operation design domain (ODD) from a plurality of autonomous vehicles  100  and roadside units in real time,
 wherein the control server transmits an operation design domain (ODD) including risk to the plurality of autonomous vehicles and roadside units to update the operation design domain-, 
 wherein the control server receives the risk-based operation design domain from the autonomous vehicle, and compares and evaluates the collected operation design domain to transmit the updated operation design domain to the autonomous vehicle in which the risk is missing or erroneous. 
 
     
     
       12. The autonomous driving safety system of  claim 11 , wherein the control server includes: an information collection unit configured to collect an operation design domain (ODD) and road and surrounding situation information from the plurality of roadside units and autonomous vehicles;
 an operation design domain design unit configured to model an operation design domain including at least one of a static operation design domain and a dynamic operation design domain collected from the autonomous vehicle; and a server communication unit configured to transmit the operation design domain (ODD) modeled by the operation design domain design unit to the plurality of autonomous vehicles and roadside units. 
 
     
     
       13. The autonomous driving safety system of  claim 12 , wherein the operation design domain design unit includes: an operation design domain design module configured to model the risk-based operation design domain (ODD); an evaluation module configured to compare and evaluate the operation design domain (ODD) modeled by the operation design domain design module and the operation design domain (ODD) collected from the autonomous vehicles and the roadside units to extract an operation design domain not including risk; and
 an information providing module configured to transmit the updated operation design domain (ODD) to the autonomous vehicle and the roadside unit through the server communication unit. 
 
     
     
       14. An autonomous driving control method of sharing a risk-based design domain, comprising: recognizing an operation design domain (ODD) in real time while an autonomous vehicle is driving, evaluating risk, and updating the operation design domain; transmitting the operation design domain (ODD) updated by the autonomous vehicle to at least one of a control server, and other autonomous vehicles and roadside units  300  and sharing the operation design domain (ODD); and
 collecting, by the control sever, the operation design domain (ODD) from the plurality of autonomous vehicles and roadside units in real time, evaluating and updating the risk of the collected operation design domain (ODD), and comparing and evaluating the collected operation design domain (ODD) to transmit the updated operation design domain to the autonomous vehicle and the roadside unit transmitting the operation design domain (ODD) in which the risk is missing or erroneous. 
 
     
     
       15. The autonomous driving control method of  claim 14 , wherein the recognizing comprises: autonomous driving in the autonomous vehicle; detecting an event defined in the operation design domain (ODD) while the autonomous vehicle is autonomously driving; calculating a risk of an event including at least one of a static operation design domain and a dynamic operation design domain detected while the autonomous vehicle is driving; and
 calculating a risk of the operation design domain recognized by the autonomous vehicle to update the operation design domain, and performing autonomous driving through a scenario set as the updated operation design domain. 
 
     
     
       16. The autonomous driving control method of  claim 14 , further comprising:
 receiving, by the control server, the updated operation design domain (ODD) and transmitting the updated operation design domain (ODD) to the other autonomous vehicles and roadside units.